JPH09244724A - Method and apparatus for creating operation program of robot - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To complete a motion program by simulating a work so that the motion program can be easily created in a short time. SOLUTION: After selecting a shape similar to the shape of the work to be coated from among the basic shapes stored in advance,
Enter dimensional information about the size of the work. Based on this, a three-dimensional model of the work is created, and an operation program that defines the teach points and the passing order of each teach point is created. Then, the display unit displays the three-dimensional model of the work environment including the robot model and the three-dimensional model of the work, and executes the work simulation in which the robot model operates according to the created operation program. Then, if there are additions and corrections, this is done to complete the operation program.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for creating an operation program of a robot for creating an operation program of a robot such as a painting robot.

[0002]

When operating an industrial robot, for example, a painting robot, it is necessary to create an operation program (so-called teaching program) for operating the robot. There are various methods for creating this operation program from the past, and the most important method is to use an actual machine (robot) in an actual painting line.
The method is divided into an on-line method using a method and an off-line method using a method other than the actual painting line. In addition, as the offline method, a temporary actual machine method that uses the same kind of robot as the actual machine in the same working environment as the actual painting line,
There is a computer simulation method (also called CAD teaching) using a simulation function by a computer.

Of these, the online method has the advantage that the operation can be set in accordance with the actual work environment because it is performed in the actual painting line. However, there are drawbacks in that the painting line must be stopped during teaching, and that much time is required for teaching and skill is required.

On the other hand, of the off-line methods, in the case of the temporary actual machine method, since it is performed on a line other than the actual painting line, it is not necessary to stop the painting line, and moreover, similar to the case of the online system, it is almost the same. There is an advantage that the operation can be set according to the actual work environment. However,
A robot of the same type as the actual machine is required separately, and it is also necessary to create a work environment similar to that of an actual painting line. Further, as in the case of the online method, there are drawbacks that it takes a lot of time for teaching and skill is required.

On the other hand, in the case of the computer simulation method, a three-dimensional model of a work environment including a robot model and a three-dimensional model of a work are created, and teach points, which are the points of work, are set, and Create an operation program by determining the passing order of each teach point, etc., display the 3D model of the work environment including the robot model and the 3D model of the work on the display screen, and display the robot model on the display screen. This is a work simulation in which the work is operated according to the operation program, and the operation program is completed based on the result.

In the case of such a computer simulation method, since the work simulation is performed on the display screen, as in the case of the above-mentioned temporary actual machine method,
There is an advantage that it is not necessary to stop the painting line and the operation can be set almost in accordance with the actual working environment. However, each time the shape or size of the work to be painted changes, a model of the work is created on the display screen, and the teach points for the work are instructed one by one and the order of passing each teach point is instructed one by one. This is a very tedious and time consuming process.

The present invention has been made in view of the above circumstances, and an object of the present invention is to complete an operation program by performing work simulation, and the operation program can be easily created in a short time. (EN) Provided are a robot motion program creation method and a creation device thereof.

[0008]

In order to achieve the above object, a method for creating a robot operation program according to the present invention comprises:
Based on the data on the size and shape of the work, the robot motion program is created by determining the 3D model of the work, the teach points, and the passing order of each teach point, and the 3D model of the work environment including the robot model is created. The three-dimensional model of the created work is overlaid on the work model, a work simulation for operating the robot model according to the created motion program is executed, and the motion program is completed based on the result of this simulation. (The invention of claim 1).

According to this method, when data relating to the size and shape of the work is input, the three-dimensional model of the work, the teach points, and the passing order of each teach point are input based on the input data. The robot motion program is automatically created. Therefore, it is not necessary for a person to create a three-dimensional model of a work one by one, or for a person to instruct a teach point and a passing order of each teach point one by one. Therefore, the operation program can be easily created, and the time for creating the operation program can be significantly shortened.

Further, a work simulation in which a three-dimensional model of a work is overlaid on a three-dimensional model related to a work environment including a robot model, and the robot model is operated according to a created operation program is executed, and based on the result of this simulation. Since the operation program is completed, it is not necessary to stop the line when creating the operation program, and it is possible to set the operation almost in accordance with the actual work environment.

As an apparatus for creating the above-mentioned robot motion program, input means for inputting data relating to the size and shape of the work, and a tertiary work piece based on the data input from this input means. Work model creating means for creating the original model, teach point setting means for setting teach points for the three-dimensional model of the work based on the data input from the input means, and each teach set by the teach point setting means. An operation program creating means for creating a robot operation program by deciding the order of passing points,
Work environment model storage means for storing data of a three-dimensional model of a work environment including a robot model, and simulation execution means for operating the robot model in accordance with the operation program created by the operation program creation means to execute a work simulation. And an output means for outputting the result of the simulation, and the operation program is completed based on the result of the simulation (the invention of claim 2).

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. First, FIG. 2 shows an appearance of a coating chamber 2 for coating a work 1 to be coated. The coating chamber 2 is formed by a partition 3 and a transfer rail 4 is installed above the partition 3. The work 1 is hung on the transportation rail 4 via the hanger 5, and is transported in the direction of arrow A in the figure along the transportation rail 4. Also,
A painting robot 6 is installed in the painting room 2. This robot 6 is an articulated robot in this case, and a spray gun 8 for spraying paint is attached to the hand 7 at the tip of the arm.

The work 1 has various shapes, but in this case, a square tube shape with both upper and lower surfaces open is shown. In this embodiment, the case where the outer side surface of the work 1 is painted will be described. When the robot 6 coats such a three-dimensional work 1, the work is usually divided into two robots, one for painting from the front side and the other for painting from the back side. However, in this embodiment, only the case where the work 1 is painted from the front side by the robot 6 will be described. The back side of the work 1 is to be coated, for example, in the next coating chamber (not shown).

Next, an apparatus for creating an operation program (teaching program) for the robot 6 when painting the work 1 will be described. FIG. 3 shows a schematic block configuration of the creating apparatus. The creating apparatus includes an arithmetic / control unit 10, a basic data storage unit 11, and
Robot model storage unit 12 and environment model storage unit 13
The work model storage unit 14, the teach point storage unit 15, the operation program storage unit 16, the program storage unit 17, the display unit 18, the keyboard 19 as the input unit, the mouse 20, and the like.

Of these, the basic data storage unit 11 stores data on a large number of basic shapes of the work to be painted, data on teach points corresponding to each basic shape, and the passing order and moving speed of each teach point. The data relating to the operation program that defines is stored. The data regarding the basic shape includes, for example, shapes such as a square tube, a cylinder, a rectangular parallelepiped, a cube, a cylinder, a cone, and a T-shaped tube, and how to arrange them.

The robot model storage unit 12 models the robot 6 and stores data such as the shape of the robot model and parameters of each link. The environment model storage unit 13 models the equipment other than the robot 6 in the work environment of FIG. 2, in this case, the partition 3, the transport rail 4, and the hanger 5, and stores data such as the shape of the environment model. Has been done. These robot model storage unit 12 and environment model storage unit 13
This constitutes the working environment model storage means.

As will be described later, the work model storage unit 14 stores data about the three-dimensional model of the work created by the calculation / control unit 10, and the teach point storage unit 15 is stored by the calculation / control unit 10. The operation program storage unit 16 stores the data about the set teach points, and the operation program storage unit 16 stores the data about the operation programs created by the operation / control unit 10 by determining the passing order and moving speed of the teach points. Has become.

The program storage unit 17 stores a program for controlling the arithmetic / control unit 10 to create an operation program. The display unit 18 is, for example, C
It consists of RT display, work model,
A robot model, an environment model, etc. are displayed, and a simulation is executed on this display screen. The display unit 18 also constitutes an output unit that outputs the result of the simulation.

As will be described later, the arithmetic / control unit 10 stores information relating to the shape selection and size of the work 1 by the keyboard 19 and the mouse 20, for example, data relating to specific dimension information such as height, width and depth. It has a function of creating a three-dimensional model of a work based on an input, a function of setting a teach point, a function of creating an operation program, and a function of executing a work simulation by a robot model.

Next, the operation of this embodiment will be described with reference to FIG. 1 and the flow charts of FIGS. 4 to 6. In this case, the case where the rectangular tubular work 1 shown in FIG. 2 is painted is intended.

FIG. 1 shows a main program for creating an operation program. When this program is started, the user first operates the keyboard 19 or the mouse 20 to store it in the basic data storage section 11. A shape similar to the work 1 is selected from the basic shapes (step S1). In this case, the shape to be selected is a rectangular tube, and the arrangement is vertical. Then, the user inputs specific information regarding the size of the work 1, such as specific dimension data such as height, width, and depth (step S2).

Then, the calculation / control section 10 creates a three-dimensional model 21 of the work as shown in FIG. 7 based on the data concerning the selected basic shape and the data such as the input size (step S3). ). A flow chart of a subroutine for creating a three-dimensional model of this work is shown in FIG. First, the coordinates of the vertices (see the points P at the eight points in FIG. 7) of the three-dimensional model 21 of the work are calculated (step T1), and then converted into wireframe shape data (step T2). After that, surface information is added and converted into surface shape data (step T
3). Then, the data relating to the three-dimensional model 21 of the work created in this way is stored in the work model storage unit 14
(Step T4) and returns to the main routine.

Next, the arithmetic / control unit 10 sets a teach point and creates an operation program (step S4). FIG. 5 shows a flowchart of the subroutine for setting the teach points and creating the operation program. First, the teach point is calculated and set based on the three-dimensional model 21 of the work created in step S3 (step U1). Teach points are points that become points of work when painting a work.

FIG. 8 shows teach points TP1 to TP16 in a state where the three-dimensional model 21 of the work is viewed from the front.
An example is shown. The teach point in this case is
Specifically, the start point (TP1) of the spray gun 8,
Point to turn on spray gun 8 (TP2, TP6, TP
10, TP14), point to turn off the spray gun 8 (T
P3, TP7, TP11, TP15), turning point (TP
4, TP5, TP8, TP9, TP12, TP13) and the like. In this case, the lateral pitch Pit
Since the width which can be applied at one time by the spray gun 8 is known in advance, the width is automatically set to be equal from the width and the width dimension of the painted surface. The data about the teach points set in this way is filed in the teach point storage unit 15 (step U2).

Next, the coating order is determined by determining the passing order of each teach point (step U).
3). In FIG. 8, a route passing through each teach point is shown by a chain double-dashed line and a dotted line for convenience. Among these, the two-dot chain line shows the trajectory that the spray gun 8 moves in the off state (the state that the paint is not sprayed), and the dotted line shows the trajectory that the spray gun 8 moves in the on state (the state that spray the paint). ing. When determining the coating order, the ON position and OFF position of the spray gun 8 and the moving speed of the spray gun 8 are also determined. The operation program is created in this manner, and the created operation program is filed in the operation program storage unit 16 (step U4),
Return to the main routine.

Next, a user's operation gives an instruction to execute the simulation. Based on this, the arithmetic / control unit 10 executes the simulation (step S
5). FIG. 6 shows a flowchart of a subroutine for executing this simulation.

First, data relating to the robot model (three-dimensional model of the robot 6) from the robot model storage unit 12 and data relating to the environmental model (three-dimensional model of the partition 3, the conveyor 4, the hanger 5, etc.) from the environment model storage unit 13 are obtained. Each is read out and displayed on the display unit 18 in the state as shown in FIG. 2 (step V1). In addition, the data regarding the three-dimensional model 21 of the work is read from the work model storage unit 14 and displayed on the display unit 18 together with the robot model and the environment model (step V).
2).

Then, on the screen of the display unit 18, the robot model is operated in accordance with the operation program created in the above step S4 to simulate the work (step V3). Then, a check calculation is performed (step V4), and it is checked whether or not there is collision or interference between members, or whether or not the robot model passes through a singular point (step V5). As a result of the check, if there is a collision or interference of members, or if a singular point is passed, the point is displayed on the screen of the display unit 18 (step V6). For example, if there is a collision or interference of members,
Related members are displayed in red. Further, when the robot model passes through the singular point, the operation speed of the robot model becomes extremely high, and therefore, the robot model is determined accordingly. When such simulation is completed, the process returns to the main routine.

As a result of the simulation, it is judged whether or not it is necessary to add or modify the operation program (step S6), and if it is necessary to add or modify it, this is performed (step S7). At this time, if there is a collision or interference between the members, an input is made to correct the teaching point so that it is shifted. In the case of passing through a singular point, for example, an input for modifying an operation program is made so as to change the posture of the robot in advance. Then, returning to step S4, after correcting the teach point and the operation program, the simulation is performed again. When it is not necessary to add or modify in step S6, the operation program is completed (step S8). The completed operation program is filed in the operation program storage unit 16.

With the above, the creation of the operation program is completed. Then, using the created operation program, a test coating is performed in an actual coating line, and if further correction is necessary, it is corrected and completed.

According to this embodiment described above, the following effects can be obtained. That is, when a shape similar to the work 1 is selected from the basic shapes and data regarding the size of the work 1 is input, the three-dimensional model 21 of the work, the teach points, and the passing order of each teach point are determined. A robot motion program is automatically created. Therefore, it is not necessary for a person to create a three-dimensional model of those works one by one by man's operation, or for a person to instruct the teach order and the passing order of each teach point one by one, so that an operation program can be easily created. It becomes possible to drastically reduce the time for creating. In this case, the three-dimensional model 21 of the work
As a result, it is not necessary to be faithful to the work 1.
It suffices that the shape of the coating range is similar to that of the work 1.

Further, a three-dimensional model 21 of the created work is overlaid on a three-dimensional model relating to a work environment including a robot model, and a work simulation for operating the robot model according to the created operation program is executed. Since the operation program is completed based on the result of simulation, it is not necessary to stop the painting line when creating the operation program, and it is possible to set the operation that almost matches the actual work environment. Becomes Then, by confirming the presence or absence of collision or interference between members, or the presence or absence of passage of a singular point of the robot, and adding or correcting if there is a problem, a better operation program can be created. .

The present invention is not limited to the above embodiments, but can be modified or expanded as follows. The selection of the shape of the work 1 and the input of the data regarding the size thereof are performed by a human operation using the keyboard 19 and the mouse 20, instead of using the camera or the optical sensor, for example. It is also possible to automatically read the information regarding the level and use the read data.

Further, the work simulation does not necessarily have to be displayed on the display unit 18, and may be carried out only by calculation in the calculation / control unit 10, for example. Further, the present invention is not limited to the painting robot, and can be applied to the case of creating an operation program of a welding robot, for example.

[0035]

As is apparent from the above description, according to the present invention, the three-dimensional model of the work, the teach points, and the passing order of each teach point are determined based on the data regarding the size and shape of the work. Since the robot motion program is automatically created, it is not necessary for a person to create a three-dimensional model of the work one by one, or for a person to instruct the teach point and the passing order of each teach point, etc. . Therefore, the operation program can be easily created, and the time for creating the operation program can be significantly shortened.

Further, a three-dimensional model of a work is overlaid on a three-dimensional model relating to a work environment including a robot model, a work simulation for operating the robot model according to a created operation program is executed, and based on the result of this simulation. Since the operation program is completed, it is not necessary to stop the line when creating the operation program, and it is possible to set the operation almost in accordance with the actual work environment.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, and is a flowchart of a main program when an operation program is created.

FIG. 2 is an external perspective view showing the coating environment.

FIG. 3 is a block configuration diagram of a creation device.

FIG. 4 is a flowchart of a program for creating a three-dimensional model of a work.

FIG. 5 is a flowchart of a program for setting teaching points and creating an operation program.

FIG. 6 is a flowchart of a program for performing simulation.

FIG. 7 is a diagram showing a three-dimensional model of a work.

FIG. 8 is an explanatory diagram for showing a teach point, a coating order, and the like.

[Explanation of reference numerals] 1 is a work, 2 is a coating room, 3 is a partition, 4 is a rail for transportation, 5 is a hanger, 6 is a robot, 8 is a spray gun,
Reference numeral 10 is a calculation / control unit (work model creating means, teach point setting means, motion program creating means, simulation executing means), 11 is a basic data storage unit, 12 is a robot model storage unit (work environment model storage unit), 1
3 is an environment model storage unit (work environment model storage means), 1
Reference numeral 8 is a display unit (output means), 19 is a keyboard (input means), 20 is a mouse (input means), and 21 is a three-dimensional model of the work.

Claims (2)

[Claims] 1. A work environment including a robot model in which a three-dimensional model of a work, a teach point, and a passing order of each teach point are determined to create a robot motion program based on data related to the size and shape of the work. The three-dimensional model of the created work is overlaid on the three-dimensional model related to, a work simulation for operating the robot model according to the created operation program is executed, and the operation program is completed based on the result of this simulation. A method for creating a motion program for a robot characterized by the above. 2. An input means for inputting data relating to the size and shape of a work, a work model creating means for creating a three-dimensional model of the work based on the data input from the input means, and the input means. Teach point setting means for setting a teach point for the three-dimensional model of the work based on the input data, and operation for creating a robot operation program by determining the passing order of each teach point set by the teach point setting means A program creating means, a work environment model storing means for storing data of a three-dimensional model of a work environment including a robot model, a robot simulation is operated according to an operation program created by the operation program creating means, and a work simulation is performed. Simulation run Means and, and an output means for outputting the result of the simulation, the operation program creating apparatus for a robot, characterized in that so as to complete the operation program based on the results of the simulation.